Added headset battery telemetry

juchong · Dec 8, 2024 · a4c1cdc · a4c1cdc
1 parent 6f27dca
commit a4c1cdc
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diff --git a/java-robot/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/java-robot/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -60,6 +60,7 @@ public class DriveSubsystem extends SubsystemBase {
   private FloatArraySubscriber questPosition = nt4Table.getFloatArrayTopic("position").subscribe(new float[]{0.0f, 0.0f, 0.0f});
   private FloatArraySubscriber questQuaternion = nt4Table.getFloatArrayTopic("quaternion").subscribe(new float[]{0.0f, 0.0f, 0.0f, 0.0f});
   private FloatArraySubscriber questEulerAngles = nt4Table.getFloatArrayTopic("eulerAngles").subscribe(new float[]{0.0f, 0.0f, 0.0f});
+  private DoubleSubscriber questBattery = nt4Table.getDoubleTopic("batteryLevel").subscribe(0.0f);
 
   // Local heading helper variables
   private float yaw_offset = 0.0f;

diff --git a/unity/Assets/Robot/MotionStreamer.cs b/unity/Assets/Robot/MotionStreamer.cs
@@ -36,6 +36,7 @@ public class MotionStreamer : MonoBehaviour
     [SerializeField] public Transform vrCamera; // The VR camera transform
     [SerializeField] public Transform vrCameraRoot; // The root of the camera transform
     [SerializeField] public Transform resetTransform; // The desired position & rotation (look direction) for your player
+    private float batteryLevel; // Local variable to store the headset battery level
 
     /* NT configuration settings */
     private readonly string appName = "Quest3S"; // A fun name to ID the client in the robot logs
@@ -95,6 +96,7 @@ private void PublishTopics()
         frcDataSink.PublishTopic("/oculus/position", "float[]");
         frcDataSink.PublishTopic("/oculus/quaternion", "float[]");
         frcDataSink.PublishTopic("/oculus/eulerAngles", "float[]");
+        frcDataSink.PublishTopic("/oculus/batteryLevel", "double");
         frcDataSink.Subscribe("/oculus/mosi", 0.1, false, false, false);
     }
 
@@ -106,12 +108,14 @@ private void PublishFrameData()
         position = cameraRig.centerEyeAnchor.position;
         rotation = cameraRig.centerEyeAnchor.rotation;
         eulerAngles = cameraRig.centerEyeAnchor.eulerAngles;
+        batteryLevel = SystemInfo.batteryLevel;
 
         frcDataSink.PublishValue("/oculus/frameCount", frameIndex);
         frcDataSink.PublishValue("/oculus/timestamp", timeStamp);
         frcDataSink.PublishValue("/oculus/position", position.ToArray());
         frcDataSink.PublishValue("/oculus/quaternion", rotation.ToArray());
         frcDataSink.PublishValue("/oculus/eulerAngles", eulerAngles.ToArray());
+        frcDataSink.PublishValue("/oculus/batteryLevel", batteryLevel);
     }
 
     // Process commands from the robot

diff --git a/unity/ProjectSettings/ProjectSettings.asset b/unity/ProjectSettings/ProjectSettings.asset
@@ -144,6 +144,8 @@ PlayerSettings:
   preloadedAssets:
   - {fileID: 11400000, guid: a3acedfb9d10ebb4980afb2325590b51, type: 2}
   - {fileID: -944628639613478452, guid: 052faaac586de48259a63d0c4782560b, type: 3}
+  - {fileID: -2134709449523983886, guid: 1ba2bee52a945594c9a9f310bc44469f, type: 2}
+  - {fileID: 11400000, guid: c1de0065df926df4e9b73f8c9e739146, type: 2}
   metroInputSource: 0
   wsaTransparentSwapchain: 0
   m_HolographicPauseOnTrackingLoss: 1